A Bionic Underwater Micro-robot With Eight Legs Using ICPF Actuators

This paper describes the design, modelling of a bionic micro-robot with eight legs using micro Ionic Conductive Polymer Film (ICPF) actuators. This underwater micro-robot a conceptual design with inspiration from motional mechanism to purpose implement multi- Degrees of Freedom of micro-robot motions in variety applications such as studying animal migration, monitoring ocean currents, depth measurements and chemical agents military functions. In order to accomplish given tasks, micro-actuator ICPF is used to develop a micro-robot with low voltage driving, multi-functionality, and flexibility which is very important and substantial to select an appropriate drive. The control of diving and floating are available by modulating the walking and floating of the micro-robot. To enlarge the employed robot, we integrated biomimetic walking and floating motion into the bionic underwater micro-robot. At last step a preliminary pattern is made and a collection of investigations for assessing the gaits micro-robot and the speed of floating motion are done. The eight actuators are utilized to implement gaits. Developing such systems contribute to the extensive research and development of bio-inspired micro robots snorkeling in the future

Keywords:

Bionic underwater micro-robot , Micro ICPF actuators , Micro-mechanism , Multifunctional locomotion , Autonomous Underwater Vehicles , cathode bending